Automated farming systems

ABSTRACT

An automated farming system includes a frame. The frame includes a fixed base, a beam, and a support. A farming implement support extends from the beam and moves up and down in relation to the beam. The farming implement support moves along a length of the beam. The movable support includes a propulsion system and is configured to rotate around the fixed base. Movement of the farming implement support and the movable support allows for high density planting of crops in hexagonal patterns and/or a continuous spiral pattern.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 U.S.C. §119(e) to U.S.provisional patent application No. 62/335,846 filed May 13, 2016, theentire content of which is hereby incorporated by reference.

FIELD

Example embodiments are related to automated farming systems. Suchmethods and systems may be used to plant high density crops and increasecrop yield.

BACKGROUND

Farming machinery for planting, watering, and feeding crops may includea beam supported by a set of heavy equipment tires that roll betweenrows of crops. Because of the size of the tires, the machinery primarilyplants, waters and feeds, in straight rows, which may limit the densityof the planting.

SUMMARY

An automated farming system comprises: a frame including, a fixed,central base configured to pivot, a beam including a first end and asecond end, the first end of the beam movably connected to the fixed,central base, and at least one support connected to the beam, the atleast one support being configured to rotate about the fixed, centralbase; and at least one farming implement attachable to at least onefarming implement support, the at least one farming implement supportbeing configured to move between the first end and the second end of thebeam and being configured to move up and down in relation to the beam,movement of the support and the farming implement support beingcontrollable.

BRIEF DESCRIPTION OF THE DRAWINGS

The various features and advantages of the non-limiting embodimentsherein may become more apparent upon review of the detailed descriptionin conjunction with the accompanying drawings. The accompanying drawingsare merely provided for illustrative purposes and should not beinterpreted to limit the scope of the claims. The accompanying drawingsare not to be considered as drawn to scale unless explicitly noted. Forpurposes of clarity, various dimensions of the drawings may have beenexaggerated.

FIG. 1 is a perspective view of an automated farming system according toat least one example embodiment.

FIG. 2 is a front view of the automated farming system of FIG. 1according to at least one example embodiment.

FIG. 3 is a top view of a first plot and an automated farming systemaccording to at least one example embodiment.

FIG. 4 is a perspective view of the first plot and the automated farmingsystem of FIG. 3 according to at least one example embodiment.

FIG. 5 is a top view of a second plot and an automated farming systemaccording to at least one example embodiment.

FIGS. 6A and 6B are illustrations of automated farming systems accordingto at least one example embodiment.

FIG. 7 is a top view of a control panel of an automated farming systemaccording to at least one example embodiment.

FIG. 8 is a block diagram of an automated farming system according atleast one example embodiment.

FIGS. 9A and 9B are block diagrams of automated farming systemsaccording to at least one example embodiment.

FIG. 10 is a flow chart illustrating a method of automated farmingaccording to at least one example embodiment.

FIG. 11 is a flow chart illustrating a method of automated farmingaccording to at least one example embodiment.

DETAILED DESCRIPTION

Some detailed example embodiments are disclosed herein. However,specific structural and functional details disclosed herein are merelyrepresentative for purposes of describing example embodiments. Exampleembodiments may, however, be embodied in many alternate forms and shouldnot be construed as limited to only the example embodiments set forthherein.

Accordingly, while example embodiments are capable of variousmodifications and alternative forms, example embodiments thereof areshown by way of example in the drawings and will herein be described indetail. It should be understood, however, that there is no intent tolimit example embodiments to the particular forms disclosed, but to thecontrary, example embodiments are to cover all modifications,equivalents, and alternatives falling within the scope of exampleembodiments. Like numbers refer to like elements throughout thedescription of the figures.

The drawings are to be regarded as being schematic representations andelements illustrated in the drawings are not necessarily shown to scale.Rather, the various elements are represented such that their functionand general purpose become apparent to a person skilled in the art. Anyconnection or coupling between functional blocks, devices, components,or other physical or functional units shown in the drawings or describedherein may also be implemented by an indirect connection or coupling. Acoupling between components may also be established over a wirelessconnection. Functional blocks may be implemented in hardware, firmware,software, or a combination thereof.

Various example embodiments will now be described more fully withreference to the accompanying drawings in which only some exampleembodiments are shown. Specific structural and functional detailsdisclosed herein are merely representative for purposes of describingexample embodiments. The present invention, however, may be embodied inmany alternate forms and should not be construed as limited to only theexample embodiments set forth herein.

Accordingly, while example embodiments of the invention are capable ofvarious modifications and alternative forms, embodiments thereof areshown by way of example in the drawings and will herein be described indetail. It should be understood, however, that there is no intent tolimit example embodiments of the present invention to the particularforms disclosed. On the contrary, example embodiments are to cover allmodifications, equivalents, and alternatives falling within the scope ofthe invention. Like numbers refer to like elements throughout thedescription of the figures.

Before discussing example embodiments in more detail, it is noted thatsome example embodiments are described as processes or methods depictedas flowcharts. Although the flowcharts describe the operations assequential processes, many of the operations may be performed inparallel, concurrently or simultaneously. In addition, the order ofoperations may be re-arranged. The processes may be terminated whentheir operations are completed, but may also have additional steps notincluded in the figure. The processes may correspond to methods,functions, procedures, subroutines, subprograms, etc.

Specific structural and functional details disclosed herein are merelyrepresentative for purposes of describing example embodiments of thepresent invention. This invention may, however, be embodied in manyalternate forms and should not be construed as limited to only theembodiments set forth herein.

It should be understood that when an element or layer is referred to asbeing “on,” “connected to,” “coupled to,” or “covering” another elementor layer, it may be directly on, connected to, coupled to, or coveringthe other element or layer or intervening elements or layers may bepresent. In contrast, when an element is referred to as being “directlyon,” “directly connected to,” or “directly coupled to” another elementor layer, there are no intervening elements or layers present. Likenumbers refer to like elements throughout the specification. As usedherein, the term “and/or” includes any and all combinations of one ormore of the associated listed items.

It should be understood that, although the terms first, second, third,etc. may be used herein to describe various elements, components,regions, layers and/or sections, these elements, components, regions,layers, and/or sections should not be limited by these terms. Theseterms are only used to distinguish one element, component, region,layer, or section from another region, layer, or section. Thus, a firstelement, component, region, layer, or section discussed below could betermed a second element, component, region, layer, or section withoutdeparting from the teachings of example embodiments.

Spatially relative terms (e.g., “beneath,” “below,” “lower,” “above,”“upper,” and the like) may be used herein for ease of description todescribe one element or feature's relationship to another element(s) orfeature(s) as illustrated in the figures. It should be understood thatthe spatially relative terms are intended to encompass differentorientations of the device in use or operation in addition to theorientation depicted in the figures. For example, if the device in thefigures is turned over, elements described as “below” or “beneath” otherelements or features would then be oriented “above” the other elementsor features. Thus, the term “below” may encompass both an orientation ofabove and below. The device may be otherwise oriented (rotated 90degrees or at other orientations) and the spatially relative descriptorsused herein interpreted accordingly.

The terminology used herein is for the purpose of describing variousexample embodiments only and is not intended to be limiting of exampleembodiments. As used herein, the singular forms “a,” “an,” and “the” areintended to include the plural forms as well, unless the context clearlyindicates otherwise. It will be further understood that the terms“includes,” “including,” “comprises,” and/or “comprising,” when used inthis specification, specify the presence of stated features, integers,steps, operations, elements, and/or components, but do not preclude thepresence or addition of one or more other features, integers, steps,operations, elements, components, and/or groups thereof.

Example embodiments are described herein with reference tocross-sectional illustrations that are schematic illustrations ofidealized embodiments (and intermediate structures) of exampleembodiments. As such, variations from the shapes of the illustrations asa result, for example, of manufacturing techniques and/or tolerances,are to be expected. Thus, example embodiments should not be construed aslimited to the shapes of regions illustrated herein but are to includedeviations in shapes that result, for example, from manufacturing.

It should also be noted that in some alternative implementations, thefunctions/acts noted may occur out of the order noted in the figures.For example, two figures shown in succession may in fact be executedsubstantially concurrently or may sometimes be executed in the reverseorder, depending upon the functionality/acts involved.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which example embodiments belong. Itwill be further understood that terms, including those defined incommonly used dictionaries, should be interpreted as having a meaningthat is consistent with their meaning in the context of the relevant artand will not be interpreted in an idealized or overly formal senseunless expressly so defined herein.

Portions of the example embodiments and corresponding detaileddescription may be presented in terms of software, or algorithms andsymbolic representations of operation on data bits within a computermemory. These descriptions and representations are the ones by whichthose of ordinary skill in the art effectively convey the substance oftheir work to others of ordinary skill in the art. An algorithm, as theterm is used here, and as it is used generally, is conceived to be aself-consistent sequence of steps leading to a desired result. The stepsare those requiring physical manipulations of physical quantities.Usually, though not necessarily, these quantities take the form ofoptical, electrical, or magnetic signals capable of being stored,transferred, combined, compared, and otherwise manipulated. It hasproven convenient at times, principally for reasons of common usage, torefer to these signals as bits, values, elements, symbols, characters,terms, numbers, or the like.

It should be borne in mind, however, that all of these and similar termsare to be associated with the appropriate physical quantities and aremerely convenient labels applied to these quantities. Unlessspecifically stated otherwise, or as is apparent from the discussion,terms such as “processing” or “computing” or “calculating” or“determining” of “displaying” or the like, refer to the action andprocesses of a computer system, or similar electronic computingdevice/hardware, that manipulates and transforms data represented asphysical, electronic quantities within the computer system's registersand memories into other data similarly represented as physicalquantities within the computer system memories or registers or othersuch information storage, transmission or display devices.

The illustration and description thereof is presented for explanationonly and is not intended to limit the scope of example embodiment.

At least some example embodiments relate to an automated farming system.

In at least one example embodiment, an automated farming systemcomprises: a frame including, a fixed, central base configured to pivot,a beam including a first end and a second end, the first end of the beammovably connected to the fixed, central base, and at least one supportconnected to the beam, the at least one support being configured torotate about the fixed, central base. The automated farming system mayalso include at least one farming implement attachable to at least onefarming implement support. The at least one farming implement support isconfigured to move between the first end and the second end of the beam.The at least one farming implement support is also configured to move upand down in relation to the beam. Movement of the support and thefarming implement support are controllable.

In at least one example embodiment, the automated farming system mayalso include at least one propulsion assembly configured to rotate thesupport and the beam about the fixed, central base. The propulsionassembly includes a plurality of wheels and a first motor. The automatedfarming system may further comprise an encoder, associated with at leastone of the plurality of wheels. The automated farming system may alsoinclude a second motor configured to move the farming implement supportbetween the first end and the second end of the beam. At least one powersupply is configured to supply power to at least one of the first motorand the second motor.

In at least one example embodiment, the farming implement includes atleast one of a planting head, a liquid dispensing device, a weedingdevice, and a feeding system. The planting head may include a seedsupply reservoir and a vacuum configured to pick up seeds from the seedsupply reservoir. The planting head may also include an air nozzleconfigured to eject the seeds.

In at least one example embodiment, the liquid dispensing deviceincludes at least one of: a liquid reservoir configured to contain atleast one of water, a herbicide, and a plant nutrient; and a liquidsupply line configured to supply at least one of water, the herbicide,and the plant nutrient.

The liquid dispensing device may further comprise at least one valveconfigured to selectively release the at least one of water and plantnutrients from the liquid reservoir or the liquid supply line.

In at least one example embodiment, the automated farming system mayinclude a remotely located computing device, configured to sendoperating instructions, to remotely control movement of at least one ofthe at least one support and the at least one farming implement, to atleast one of the first and second motors. The computing device includesa user interface. The computing device is in communication with at leastone of the first and second motors via a motor controller. The computingdevice includes a data storage medium.

In at least one example embodiment, the automated farming system mayinclude at least one of: a visual marker dispensing system; adifferential global positioning system (GPS) receiver located at thesecond end of the beam; and an angle sensor located at the fixed,central base, the angle sensor configured to measure an angle ofrotation of the beam.

In at least one example embodiment, the automated farming system mayinclude at least one sensor configured to sense a condition of a plant,the at least one sensor connected to the farming implement support.

In at least one example embodiment, an automated farming system mayinclude a frame including, a fixed, central base configured to pivot, abeam including a first end and a second end, the first end of the beammovably connected to the fixed, central base, and at least one movablesupport connected to the beam and configured to rotate the support andthe beam about the fixed, central base. The automated farming system mayalso include at least one farming implement support configured to movebetween the first end and the second end of the beam. Movement of the atleast one movable support and the at least one farming implement supportmay be controllable so as to farm crops in a substantially continuousrow having a generally spiral shape. The row may extend from the fixed,central base to a location adjacent a path of the automated farmingsystem.

In at least one example embodiment, the at least one movable supportincludes a propulsion system. The propulsion system may include aplurality of tires and a first motor.

In at least one example embodiment, the automated farming system mayinclude an encoder associated with at least one of the plurality oftires.

In at least one example embodiment, the automated farming system mayinclude a second motor configured to move the farming implement supportbetween the first end and the second end of the beam.

In at least one example embodiment, the automated farming system mayinclude at least one power supply configured to supply power to at leastone of the first motor and the second motor.

In at least one example embodiment, the automated farming system mayinclude at least one farming implement attachable to the farmingimplement support. The farming implement may include at least one of aplanting head, a liquid dispensing device, a weeding device, and afeeding system.

In at least one example embodiment, the planting head comprises: a seedsupply reservoir; and a vacuum configured to pick up seeds from the seedsupply reservoir. The planting head may further comprise: an air nozzleconfigured to eject seeds.

In at least one example embodiment, the liquid dispensing devicecomprises at least one of: a liquid reservoir configured to contain atleast one of water, a herbicide, and a plant nutrient; and a liquidsupply line configured to supply at least one of water, the herbicide,and the plant nutrient. The liquid dispensing device may also include atleast one valve configured to selectively release the at least one ofwater and plant nutrients from the liquid reservoir or the liquid supplyline.

In at least one example embodiment, the automated farming system mayinclude a remotely located computing device, configured to sendoperating instructions, to control movement of at least one of the atleast one support and the at least one farming implement, to at leastone of the first and second motors via a motor controller. The remotelylocated computing device includes a user interface. The remotely locatedcomputing device includes a data storage medium.

In at least one example embodiment, the automated farming system mayinclude at least one of: a visual marker dispensing system; adifferential global positioning system (GPS) receiver located at thesecond end of the beam; and an angle sensor located at the fixed,central base, the angle sensor configured to measure an angle ofrotation of the beam.

In at least one example embodiment, the automated farming system mayinclude at least one sensor configured to sense a condition of a plant.The at least one sensor may be connected to the farming implementsupport.

In at least one example embodiment, at least one of the first and secondmotors is in wireless communication with a remote computing device via amotor controller.

At least one example embodiment relates to an automated farming method.

In at least one example embodiment, an automated farming methodcomprises rotating a beam about a fixed, central base, the beamextending between the fixed, central base, and a movable support; movinga farming implement support along the beam; and depositing at least oneof seeds, water, or nutrients along a continuous path within a plot asthe beam rotates about the fixed, central base and the farming implementsupport moves along the beam from a first position to a second position,the continuous path forming a spiral pattern extending from the fixed,central base.

In at least one example embodiment, the method may also includecontinuously monitoring a condition of the plot. The method may alsoinclude treating selected plants within the plot according to thecondition thereof.

In at least one example embodiment, at least one of the rotating andmoving is wirelessly controlled.

In at least one example embodiment, an automated farming methodcomprises rotating a beam about a fixed, central base, the beamextending between the fixed, central base, and a support; moving afarming implement support along the beam; and depositing at least one ofseeds, water, or nutrients in rows extending radially from the fixed,central base.

In at least one example embodiment, the method may include continuouslymonitoring a condition of the rows. The method may also include treatingselected plants within the rows according to the condition thereof.

In at least one example embodiment, at least one of the rotating andmoving is wirelessly controlled.

FIG. 1 is a perspective view of an automated farming system according toat least one example embodiment.

In at least one example embodiment, as shown in FIG. 1, an automatedfarming system 10 is configured to pivot about a fixed, central base 25.

In at least one example embodiment, the automated farming system 10 mayinclude a frame 20 as shown in FIGS. 1-6. The frame 20 includes thefixed, central base 25, a support 40, and a beam 30. The beam 30includes a first end 32 that is movably attached to the fixed, centralbase 25. The beam 30 also includes a second end 34 that is attached tothe support 40. At least one farming implement support 60 is movablyattached to the beam 30. The farming implement support 60 is configuredto move between the first end and the second end of the beam 30 and thefarming implement support 60 is configured to move up and down inrelation to the beam 30. At least one farming implement 65 is attachableto the farming implement support 60.

A propulsion assembly may be configured to rotate the farming implementsupport 60 and the beam 30 about the fixed, central base 25. Thepropulsion assembly may include a motor 50 and/or at least one wheel ortire 45 a, 45 b connected to the support 40.

A control and/or power supply panel 75 may house a power supply and acontroller. The controller may be configured to control movement of thesupport 40 and the farming implement support 60. The controller may bewirelessly connected to the automated farming system 10. In otherexample embodiments, the controller is hardwired to the automatedfarming system 10. In at least one example embodiment, the controllermay include an integrated circuit within the control and/or power supplypanel 75.

When the controller is wireless, transceivers 415 a, 415 b (shown inFIG. 9B) may be included. A first transceiver 415 a may be attached tothe automated farming system 10, while a second transceiver 415 b may beassociated with a remote computing device used to remotely control theautomated farming system 10. The automated faming system 10 may includea power supply hardwired to and configured to supply power to motors anda motor controller associated with the motors. Signals may be wirelesslysent to and/or from the motor controller via the transceivers 415 a, 415b to activate and/or deactivate the motor. Further details of thecontrol system will be explained later. Movement of the farmingimplement support 60 (and a farming implement support) may also becontrollable.

In at least one example embodiment, the support 40 rotates around thefixed, central base 25 and is driven by a motor 50, for example themotor associated with at least one of the wheels 45 a, 45 b. The controlsystem includes an on board motor controller that is wired to the motorsto provide signal and power thereto. The support 40 may rotate clockwiseor counter-clockwise around the fixed, central base 25. The rotation maybe substantially continuous. Alternatively, the support 40 may stop atselected locations around the plot for desired periods of time.

The rotation may be controlled by a control system and/or controller,which may be programmed, for example to stop and/or start rotation atselected times and/or for selected periods of time. The control systemand/or controller may be remotely located or located at the automatedfarming system 10. In at least one example embodiment, the controlsystem and/or controller includes a user interface 88 (shown in FIG. 7),such as a touch screen. A farmer or other individual may inputinstructions to the automated farming system 10, review crop health,and/or review system status via the user interface 88.

In at least one example embodiment, a remote computer system may beconfigured to send operating instructions to a controller and/ordirectly to the motors (for example, in a known wireless manner). Thecontroller and/or remote computer system may further include a userinterface, a data storage medium, and/or may be in communication with aremote computing device. The remote computing device may be asmartphone, laptop computer, desktop computer, tablet, or other device.

In at least one example embodiment, the user interface may be a personalcomputer running Windows OS and using a G-code user interface to send aG-code text file with standard ANSI G language commands. The userinterface may be used to send line by line programming commands to themotor controller. The motor controller may be programmed with a G-codeinterpreter that may process and/or execute the commands.

In at least one example embodiment, a proprietary language usingtechnology, such as a JD 4600 display and hardware controller, may use aGPS location instead of absolute positioning in order to commandlocation and movement.

The at least one farming implement support 60 is configured to movelaterally along the beam 30 between the first end 32 and the second end34 of the beam. The at least one farming implement support 60 may alsomove up and down in relation to the beam 30. A second motor isconfigured to move the at least one farming implement support 60laterally and/or up and down, etc. The second motor is controllable bythe controller which may be programmed to control the second motor andto control the movement of the at least one farming implement support 60(and the controller may be programmed to control the motor 50 to controlrotation of the support 40 rotates around the fixed, central base 25). Aremote computer system may be configured to send operating instructionsto the controller and/or the motor 50 (for example, in a known wirelessmanner). The controller and/or remote computer system may furtherinclude a user interface, a data storage medium, and/or may be incommunication with a remote computing device.

At least one at least one power supply may be configured to supply powerto at least one of the first motor 50, the second motor, or the controlsystem/controller. Thus, the automated farming system 10 is configuredto move in at least three different directions within a plot so as toposition the at least one farming implement 65 in any location withinthe plot.

The automated farming system 10 is configured to operate 24 hours a day,seven days a week to plant, water, and feed crops and/or applyherbicides, fungicides, insecticides, and/or weed control without theneed for human intervention. Moreover, because the automated farmingsystem 10 is movable in three at least directions (x-axis, y-axis, androtationally) within the plot, crops may be farmed in dense andsubstantially precise patterns, such as for example a spiral, ahexagonal, diamond, or a circular pattern, which may increase cropdensity and crop harvest. The pattern may be chosen to provide denseplanting of crops with the plants be substantially equidistant withinthe plot.

In at least one example embodiment, the automated farming system 10 maybe programmed such that the crop planting and maintenance paths are themost efficient and/or require the least motion to reach each plantwithin the plot.

In another example embodiment, the automated farming system 10 mayinclude external sensors (discussed in detail hereafter) that senseplant deficiency or stress so that only the deficient or stressed plantswithin the plot are treated with water, nutrients, or other materials,as desired. The use of the external sensors may further enhance theefficiency of the automated farming system 10.

Moreover, since the automated farming system 10 rotates about the fixed,central base 25, the wheels 45 a, 45 b do not pass between rows ofplants. Thus, the plants may be planted close together. Precisionplanting may allow for high density crop planting. For example, anexample embodiment of the automated farming system 10 may plant about70,000 corn seeds per acre to enable harvesting of about 400 bushels peracre. Thus, each plant may be allotted about 254 mm within the plot.Plant population and spacing within the plot may vary depending on thesoil, seed type, variety of seed, nutrient strategy, and target yieldgoal. The automated farming system 10 may be used on any size plot withany desired crop size. For example, the automated farming system 10 maybe used to farm a plant population ranging from about 28,000 to about38,000 plants per acre. The automated farming system 10 may also enablefarming of plots having more densely planted crops without crowdingadjacent plants.

The automated farming system 10 may also be able to manually weed, till,or otherwise manipulate the crops by attaching the at least one farmingimplement 65 as described herein. Precision farming may also preserveresources and provide larger harvests per acre than traditional rowplanting. Moreover, because the automated farming system 10 isautonomous and may operate 24 hours a day in all weather conditions, thecrops may be maintained immediately upon sensing of adverse weather,plant, and/or other environmental conditions.

In at least one example embodiment, the fixed, central base 25 may bepermanently or temporarily installed within the plot. The plot may beany desired size. The beam 30 spans a radius of the plot.

The frame 20 may be formed of any suitable material including wood,plastic, and/or metal. In at least one example embodiment, the frame 20may be formed of steel or aluminum. In at least one example embodimentthe frame 20 is formed of stainless steel or other non-ferrous materialssince the frame 20 may be exposed to harsh chemicals and/or weatherconditions. Alternatively, the frame 20 may be formed of other materialsthat are coated with polymers or other materials that protect the frame20 from chemicals and/or weather conditions.

In at least one example embodiment, the beam 30 may have a lengthranging from about 1 foot to about 200 feet or more (e.g., about 10 feetto about 180 feet, about 20 feet to about 150 feet, about 30 feet toabout 125 feet, 50 feet to about 100 feet, or about 70 feet to about 90feet). The length of the beam 30 may be adjusted based on a desired plotsize to be farmed. The length of the beam 30 may be adjustable so that afarmer may choose the desired beam length.

In at least one example embodiment, a height of the fixed, central base25, beam 30, and/or the support 40 may range from about 1 foot to about50 feet or more (e.g., about 5 feet to about 45 feet, about 10 feet toabout 40 feet, about 15 feet to about 35 feet, or about 20 feet to about30 feet). The height may be chosen based on a height of the cropplanted. Thus, the beam 30 may be higher for corn than for squash.

In at least one example embodiment, the height of the beam 30 may beadjustable with respect to the fixed, central base 25 and the support40. In another example embodiment, the height of the beam 30 may befixed and may be based on the height of the fixed, central base 25and/or the support 40. The height of the central base 25 and/or thesupport 40 may also be adjustable alone or in combination with the beam30.

In at least one example embodiment, both of the wheels 45 a, 45 b of thesupport 40 may be powered by the motor 50. In another exampleembodiment, one of the wheels 45 a, 45 b may be powered, while a secondone of the wheels 45 a, 45 b may not be powered. In other embodiments,both wheels 45 a, 45 b may be powered by two or more motors.

In at least one example embodiment, the size of the wheels 45 a, 45 bmay be chosen so that the load factor does not exceed ground pressureand cause the tires to sink. The wheels 45 a, 45 b must be wide enoughand tall enough to reduce and/or substantially eliminate vertical motiondue to bumps in the field and wide enough to support the beam 30 andsupport 40 without sinking into the field.

In at least one example embodiment, the wheels 45 a, 45 b may besubstantially smaller than heavy equipment tires that may be used forsome commercial farming machinery. For example, the wheels may have awidth ranging from about 1 inch to about 15 inches (e.g., about 2 inchesto about 12 inches or about 5 inches to about 10 inches). The use ofnarrower wheels may allow for planting in more intricate patterns withhigher plant density.

In at least one example embodiment, the automated farming system 10 mayinclude an encoder 700, such as a rotary encoder or a linear encoder.The encoder 700 may be associated with at least one of the wheels and isconfigured to convert an angular position or motion of a shaftassociated with the wheels 45 a, 45 b to an analog or digital code. Thecode may be interpreted by the control system to determine a location ofthe support 40 within a plot. Thus, the encoder 700 may record andmaintain information regarding position of the wheels 45 a, 45 b withinthe plot.

For example, the location of the wheels 45 a, 45 b and the support 40may be used to control position of the farming implement support 60 andrelease of seeds, water, nutrients, and/or other desirable materials viathe farming implement 65. Thus, the location of the release of seeds,water, nutrients, and/or other desirable materials may be substantiallyprecisely controlled.

The automated farming system 10 may include at least one of a visualmarker dispensing system; a differential global positioning system (GPS)receiver located at the second end of the beam; and/or an angle sensorlocated at the fixed, central base. The angle sensor is configured tomeasure an angle of rotation of the beam.

In an example embodiment, in order to monitor location of the beam 30and/or the support 40, the automated farming system 10 may include avisual marker dispensing system to intermittently release markers in theplot. A control system may reference the location of previously plantedseeds and/or the markers to determine position of the support 40 withinthe plot.

In yet another example embodiment, the automated farming system 10 mayinclude a geographical positioning system (GPS) receiver 500 on oradjacent the beam 30. The GPS receiver may provide a reference positionto the control system or controller so as to indicate position of thebeam 30 within the plot. The reference position may be compared againstan odometer associated with the wheels 45 a, 45 b so as to confirmlocation of the support 40 and ensure precise planting, watering,weeding, and/or feeding locations.

In another example embodiment, the automated farming system 10 mayinclude an angle sensor 400 on or adjacent the fixed, central base 25.The angle sensor 400 may measure an angle of rotation of the beam 30 soas to determine the position of the beam 30 within the plot.

In at least one example embodiment, the automated farming system 10 mayuse absolute positioning based on feedback sensors, such as, for examplerotary potentiometers or a GPS antenna, to monitor the location of oneor more of the beam 30; the fixed, central base 25; the support 40; thefarming implement support 60; and the farming implement 65.

In at least one example embodiment, the support 40 may include one ormore portions (or legs). As shown in FIG. 1, the support 40 may includetwo legs 42, 44. A secondary support 46 may extend between the two legs42, 44 to reinforce the support 40. The legs 42, 44 may have a width anddepth sufficient to support the beam 30. The legs 42, 44 are attached tothe wheels 45 a, 45 b, such that the support 40 moves as the wheelsmove. The wheels 45 a, 45 b may be removable for easy replacement and/orstorage of the frame 20. In other example embodiments, the support 40may include additional legs and wheels to support larger beams 30, ifnecessary.

In at least one example embodiment, the farming implement support 60 maymove fully or partially along the length of the beam 30 as desired. Abelt and linear gear or notch belt drive (not shown) may move thefarming implement support 60 along the beam 30.

The beam 30 may rotate around the fixed, central base 25, and thefarming implement support 60 may move along the beam 30 to selectedlocations within the plot. Since the farming implement support 60 alsomoves up and down with relation to the beam 30, the farming implement 65is able to be moved within three different directions (axes) so that anyarea of the plot may be treated. In at least one example embodiment, theautomated farming system 10 may move in all three directions at the sametime. In other example embodiments, the automated farming system 10 maymove in only one or two directions at a time.

In at least one example embodiment, as set forth above, absolutepositioning may be used to determine location of the components of theautomated farming system 10 within the plot. In addition, a location ofeach seed and/or plant within the plot may also be mapped. The externalsensors may be used to determine a condition of each seed and/or plant.Then, the controller may be used to input specific instructionsregarding positioning of each component of the automated farming system10 within the field, the necessary action to be taken for eachindividual plant or group of plants, the timing of the action, thelength of the action, and whether the action should be repeated.

For example, the farming implement 65 may be positioned close to theground during planting and/or watering, but may be positioned higherduring harvest or when applying insecticides to leaves or canopy of aplant.

In at least one example embodiment, the farming implement support 60 isconfigured to attach to the farming implement 65. The farming implement65 may be removed and replaced with other farming implements 65, ifdesired.

The farming implement 65 may be, for example, a planting head, a liquiddispensing device, a plow, a nozzle, a vacuum, a sprayer, a light, aharvesting device, a sensor, a weeding device, a feeding system, or anyother suitable farming implement. The liquid dispensing device maydispense water, fertilizers, nitrogen, phosphorous, starter fertilizers,insecticides, bio stimulants, and/or herbicides as desired.

In other example embodiments, the beam may be longer and may include acable support or suspension structure.

In at least one example embodiment, the weeding device may includemechanical weeding implements and/or a nozzle for dispensing aherbicide. Further, the planting head may include an air nozzle, ablower, a vacuum, and optionally a mechanical device, such as a smallplow for forming a hole or trough in the soil into which one or moreseeds may be deposited. The vacuum may be configured to suck up one ormore seeds from a seed supply reservoir. The air nozzle may beconfigured to dispense or eject the one or more seeds into a selectedlocation of the plot by blowing air through the nozzle along with theone or more seeds. The air may be supplied by a blower. In anotherexample embodiment, the seeds may be gravity fed through the nozzle.

In least one example embodiment, for example where the farming implement65 includes a weeding device, an additional axis of rotation may beimplemented and/or an additional motor may be included to allow rotationof the farming implement 65, such as the weeding device in the soil inorder to till a small seed zone.

In at least one example embodiment, liquid may be contained in a liquidreservoir 140 attached to or adjacent the farming implement 65.Alternatively, the liquids and/or seeds may be delivered to the farmingimplement 65 via one or more supply lines (not shown). The liquiddispensing device may include at least one of the liquid reservoir 140configured to contain at least one of water, a herbicide, and a plantnutrient, and a liquid supply line configured to supply at least one ofwater, the herbicide, and the plant nutrient. The liquid dispensingdevice may further include at least one valve (not shown) configured toselectively open and/or close so as to release a desired amount of waterand/or nutrients from a liquid supply line or liquid reservoir 140 at aselected location of the plot. The liquid may be water and any nutrient,fertilizer, fungicide, insecticide, herbicide, and the like. An exampleembodiment will be discussed with regard to FIG. 2.

In at least one example embodiment, for accurate liquid distribution, aprecise valve, such as a pulse width modulation (PWM) valve may be used.

In at least one example embodiment, harvesting may require an airdelivery system to transfer harvested plant materials to the fixed,central base 25 or to the support 40 for removal from the plot via truckor other device.

In at least one example embodiment, the farming implement support 60 mayinclude at least one sensor (external sensor), for example at least oneweather and/or plant health sensor 62. The sensor 62 may be configuredto monitor weather conditions and/or condition of plants. The at leastone sensor may be connectable to the farming implement support 60. Thesensor 62 may be a normalized difference vegetation index (NDVI) sensorthat measures greenness of each individual plant so as to determineplant stress from environmental factors such as water supply, insects,nutrients, fungus, and the like.

Since the sensor 62 may determine health of each individual plant withinthe plot, each individual plant may be treated with the appropriateamounts of water, nutrients, bio stimulants, insecticides, fungicides,and/or the like. Thus, for example, instead of applying a fixed amountof a particular material to an entire plot, a desired first amount maybe applied to a first plant, while a second (different) amount may beapplied to a second plant. Accordingly, resources are saved. Moreover,since the system 10 is automated, the system 10 may instantly, or withina short period of time, provide the needed nutrients, etc. to the plantrather than awaiting human intervention, which may be delayed due toweather conditions or other factors.

The farming implement support 60 may be associated with a motor 55 thatis configured to drive movement of the farming implement support 60 upor down with respect to the beam 30. A constant force spring (not shown)may be used to apply force to and/or hold the farming implement support60 in place. Thus, while the motor controls motion of the farmingimplement support 60, the spring applies the necessary force formovement and/or maintenance of the positioning of the farming implementsupport 60.

In at least one example embodiment, the automated farming system mayalso include the control and/or power supply panel 75. The controland/or power supply panel 75 may be located adjacent the fixed, centralbase 25, adjacent the support 40, or at any other suitable location. Inat least one example embodiment, the control and/or power supply panel75 includes one or more power supplies, sensors, and the control system.The one or more power supplies are configured to supply power to thefirst motor 50 and any additional motors, which drive the movement ofthe farming implement support 60 along the beam 30 and up and down inrelation to the beam 30; and to supply power to the controller orcontrol system. The sensors are configured to sense a location of thesupport 40 in relation to the fixed, central base 25 and a location ofthe farming implement support 60 along the beam 30. The control systemis configured to control movement of the farming implement support 60,the wheels 45 a, 45 b, and release of the seeds, water, and/or nutrientsfrom the farming implement 65.

FIG. 2 is a front view of the automated farming system of FIG. 1according to at least one example embodiment.

In at least one example embodiment, as shown in FIG. 2, the automatedfarming system 10 is generally the same as in FIG. 1, but illustrates awire shield 102, a seed reservoir 165, and a reservoir 140.

As shown in FIG. 2, the automated farming system 10 may include the wireshield 102, which is a cover that rolls along the beam 30 as the farmingimplement support 60 moves. The wire shield 102 shields wires and tubesextending along the beam and leading to the farming implement 65 fromvarious weather conditions and/or chemicals.

In at least one example embodiment, the automated farming system 10 mayinclude a reservoir 140 supported by the support 40. The reservoir 140may contain one or more of water, fertilizers, and/or other nutrients inliquid and/or dry form within one or more compartments in the reservoir140. The reservoir 140 may include one or more outlets and one or morevalves associated therewith. The valves may be opened and closed toselectively release liquids (or other materials) from the reservoir 140.Once opened, materials from multiple compartments may be released andmixed together in a mixing chamber (not shown) prior to being releasedvia a liquid dispensing device, such as a nozzle.

In at least one example embodiment, the automated farming system 10 mayinclude a seed supply 165 attached to the support 40. In other exampleembodiments, the seed supply 165 may be attached to the beam 30 or tothe fixed, central base 25. The seed supply 165 may contain a pluralityof seeds to be planted. During planting, the farming implement 65 may bea planting head including a vacuum that is configured to suck up one ormore seeds to be planted. The planting head may also include a blowerconfigured to blow the seed from the planting head into the soil to adesired depth.

In other example embodiments, instead of including the seed reservoir165 and the reservoir 140, seeds, water, nutrients, fertilizers,insecticides, fungicides, herbicides, and the like may be contained intanks located in other areas, such as adjacent the fixed, central base25. Pipes or tubes and pumps may be associated with the seed reservoir165 and/or the reservoir 150 to deliver the seeds, water, nutrients,fertilizers, insecticides, fungicides, herbicides, and the like to thefarming implement 65.

FIG. 3 is a top view of a first plot and an automated farming systemaccording to at least one example embodiment.

In at least one example embodiment, the fixed, central base 25 may becentrally positioned within a plot 200. The support 40 rotates about thefixed, central base 25, while the farming implement support 60 movesbetween the first end 32 and the second end 34 of the beam 30. The plot200 may have a radius ranging from about 1 foot to about 200 feet (e.g.,about 5 feet to about 150 feet or about 8 feet to about 120 feet). Theradius may depend upon the length of the beam 30.

As shown in FIG. 3, the plot 200 may include a plurality of rowsextending radially from the fixed, central base 25. For example, therows may have a planting pattern wherein 12 plants are planted in afirst row, 7 plants in a second row, 10 plants in a third row, 7 plantsin a fourth row, and then the pattern is repeated so as to form agenerally hexagonal planting pattern. The rows may have about 254 mmbetween adjacent rows. The rows may be substantially uniformly spaced.

In at least one example embodiment, the type of seed/plant, soilconditions, and the like may be used to determine a desired plantspacing and pattern. Once the desired spacing and pattern is determined,the system 10 may be programmed to farm according to a relativelyfastest path with a relatively least amount of motion required by thesystem 10. The fastest path may be calculated using any suitablemathematical technique including path optimizers.

FIG. 4 is a perspective view of the first plot and the automated farmingsystem of FIG. 3 according to at least one example embodiment.

In at least one example embodiment, as shown in FIG. 4, the plot 200 andthe automated farming system 10 are generally the same as in FIG. 3, butare shown including the farming implement 65 attached to the farmingimplement support 60.

FIG. 5 is a top view of a second plat and an automated farming systemaccording to at least one example embodiment.

In at least one example embodiment, as shown in FIG. 5, the plot 200 mayinclude a continuous spiral pattern radiating from the location of thefixed, central base 25. Adjacent sections of the coil may be spacedabout 254 mm apart.

Since the spiral row is continuous, the farming implement 65 may be leftin a “down” position with respect to the beam 30 during planting,watering, and/or feeding since the farming implement 65 may travel alongthe continuous path and would not need to be moved up and down to avoidadjacent plants. The farming implement 65 could be moved up withrelation to the beam 30 in order to perform other operations, such asapplying insecticides or harvesting crops, if desired.

To form the spiral row, each plant would have x, y, and z coordinatesalong the spiral path. The system 10 would be programmed to move thefarming implement 65 between each plant in the most efficient direction.

FIG. 6A is a side view of a second embodiment of an automated farmingsystem according to at least one example embodiment.

In at least one example embodiment, as shown in FIG. 6, the automatedfarming system 10 is generally the same as in FIG. 1, but includes alonger beam 30 and two supports 40, 40′. The automated farming system 10may also include additional farming implement supports 60, 60′, 60″ andfarming implements 65, 65′, 65″, the number of which may be chosen basedon the size of the plot and number of plants within the plot. Eachsupport 40, 40′ may include wheels 45 a, 45 a′ and motors 50, 50′ thatdrive the wheels 45 a, 45 a′. In addition, each support 40, 40′ mayinclude a separate seed reservoir 165, 165′, a separate liquid reservoir140, 140′, and a separate control and power supply panel 75, 75′.

Each support 40, 40′ along the beam 30 may be substantially uniformly ornon-uniformly spaced between the fixed, central base 25 and the secondend 34 of the beam 30. The farming implement supports 60, 60′, 60″ maymove independently or in sync with others of the farming implementsupports 60, 60′, 60″.

In other example embodiments, the automated farming system may includeadditional supports, wheels, reservoirs, farming implement supports, andfarming implements based on the length of the beam.

FIG. 6B is a side view of a third embodiment of an automated farmingsystem according to at least one example embodiment.

In at least one example embodiment, as shown in FIG. 6B, the automatedfarming system 10 is the same as in FIG. 6A, but may include a singlecontrol system 75 that controls a plurality of farming implementsupports 60, 60′, 60″ and supports 40, 40′.

FIG. 7 is a top view of a control system and power supply panel of anautomated farming system according to at least one example embodiment.

In at least one example embodiment, the automated farming system ofFIGS. 1-6 (including the motors) may be wirelessly connected to thecontrol system and power supply panel 75 of FIG. 7. As shown, thecontrol system and power supply panel 75 may include a power supply 70,which may include a 5 volt and/or a 12 volt converter, a stepper motorcontroller 80, a relay 82, a power input 84, a computer control board86, and a user interface 88. The control system and power supply panel75 may also include a WIFI connection 220 for communication with aremote computing device or system (not shown), configured to sendoperating instructions to the motors.

In at least one example embodiment, the control system may be run withcontrollers, such as a TruSet controller or an Autosteer controller. Anysuitable controller may be used.

FIG. 8 is a block diagram of an automated farming system according atleast one example embodiment.

The example embodiment shown in FIG. 8 illustrates one exampleembodiment of the powering and control of the automated farming system10 (shown in FIGS. 1-6). The automated farming system 10 (shown in FIGS.1-6) may include a power supply 70, which may supply power to a controlsystem, computing device or controller 90. The control system 90 mayinclude a computer control board 86′, a code interpreter 80′, and astepper motor controller 80. The stepper motor controller 80 may beconfigured to send wirelessly (in a known manner) send control signalsto an x-axis motor 320, a y-axis motor 325, and a rotation (z-axis)motor 330 (discussed previously in FIGS. 1-6 as motor 50, first motor,second motor, etc. which controlled movement of the at least one support40 and/or at least one farming implement support) so that the at leastone support 40 and farming implement support 60 may be moved todifferent locations to plant, water, and/or feed at desired locations,as previously described in FIGS. 1-6.

The stepper motor controller 80 may also communicate with a relay 82,which causes a vacuum 110 to turn on/off and/or a liquid valve 100 toopen/close. The vacuum 110 may be associated with a planting head, andthe liquid valve 100 may be associated with a watering, fertilizing, orother liquid dispensing system.

In other example embodiments, any proprietary or off the shelfcontroller may be configured to control the automated farming system 10.

FIGS. 9A and 9B are block diagrams of an automated farming systemaccording to at least one example embodiment.

In at least one example embodiment, as shown in FIG. 9A, the automatedfarming system of FIGS. 1-6 may include powering via the power supply70, for example. As shown in FIG. 9A, the power supply 70 may include a12 volt DC voltage supply 70′ (high voltage power supply) and a 5 voltDC voltage supply 70″ (low voltage power supply). The 5 volt DC voltagesupply 70″ may be configured to supply power to the computer controlboard 86, such as a tablet including a touchscreen user interface.

In an embodiment, the computer control board 86 may include GRBL controlcommand software on a Windows tablet 86′ or a Raspberry Pi controllerwith GBRL control and G-code file 86″. The computer control board 86 maybe configured to communicate with the code interpreter 80′. The computercontrol board 86 may include data storage medium configured to storeinstructions, such as planting, watering, and/or fertilizinginstructions. The instructions may be remotely modified as neededdepending on conditions sensed by sensors. Instructions may becommunicated to the computer control board 86 by a remote computingdevice (not shown), such as a desktop computer, laptop computer,smartphone, tablet, or other smart device. In the alternative,instructions may be input directly into the computer control board 86via the user interface 88 (shown in FIG. 7). The instructions may beremotely modified to control movement of the motors for spiral patternsmovement, helical pattern movement, etc. for depositing at least one ofseeds, water, or nutrients along a continuous path within a plot as thebeam rotates about the fixed, central base and the farming implementsupport moves along the beam from a first position to a second position,the continuous path forming a spiral pattern extending from the fixed,central base.

The 12 volt DC voltage supply 70′ (high voltage power supply) may supplypower to the stepper motor controller 80, which also receives signalsfrom the code interpreter 80′. The code interpreter 80′ may also sendand receive signals from a GPS receiver 410 associated with the support40 so as to determine a location of the support 40 in relation to thefixed, central base 25.

The 12 volt DC voltage supply 70′ may also supply power to a highvoltage power relay 82. The stepper motor controller 80 may send and/orreceives signals to and/or from the relay 82, which may send signals toopen and close the liquid valve 100 and/or to turn on or off the seedpickup vacuum 110. The stepper motor controller 80 may also send signalsto and/or from the x-, y-, and rotation (z-axis) motor drivers, rotaryencoders, and/or limit switches 305, 326, 332, which in turn cause thex-, y-, and/or rotation (z-axis) motors 310, 325, 330 to turn on and/oroff in order to cause the support 40 to rotate and/or the farmingimplement support 60 to move up or down, and/or along the beam 30.

In at least one example embodiment, as shown in FIG. 9B, the poweringand control of the automated farming system 10 may be generally the sameas in FIG. 9A, but may be configured for wireless, remote control of thesystem 10. As shown in FIG. 9B, the automated farming system 10 mayinclude the first transceiver 415 a associated with the frame 20. Thecomputing device 86 may be a remote, wireless computing device includingthe second transceiver 415 b and a computing device power supply 470.The second transceiver 415 b may wirelessly send signals to the firsttransceiver 415 a so as to wirelessly control the system 10 from theremote computing device 86.

The automated farming system 10 may be programmed to water the crops atparticular time intervals on specified days. The automated farmingsystem 10 may also be programmed to adjust an amount of water,fertilizers, herbicides, insecticides, fungicides, and the like perplant based on temperature and other weather conditions sensed and/orplant health by the sensors for each individual plant within the plot.

Portions of example embodiments and corresponding detailed descriptionare presented in terms a processor specifically programmed to executesoftware, or algorithms and symbolic representations of operation ondata bits within a computer memory. These descriptions andrepresentations are the ones by which those of ordinary skill in the arteffectively convey the substance of their work to others of ordinaryskill in the art. An algorithm, as the term is used here, and as it isused generally, is conceived to be a self-consistent sequence of stepsleading to a result. The steps are those requiring physicalmanipulations of physical quantities. Usually, though not necessarily,these quantities take the form of optical, electrical, or magneticsignals capable of being stored, transferred, combined, compared, andotherwise manipulated. It has proven convenient at times, principallyfor reasons of common usage, to refer to these signals as bits, values,elements, symbols, characters, terms, numbers, or the like.

In the following description, illustrative embodiments will be describedwith reference to acts and symbolic representations of operations (e.g.,in the form of flowcharts) that may be implemented as program modules orfunctional processes including routines, programs, objects, components,data structures, etc., that perform particular tasks or implementparticular abstract data types and may be implemented using existinghardware. Such existing hardware may include one or more CentralProcessing Units (CPUs), digital signal processors (DSPs),application-specific-integrated-circuits, field programmable gate arrays(FPGAs) computers or the like.

It should be borne in mind, however, that all of these and similar termsare to be associated with the appropriate physical quantities and aremerely convenient labels applied to these quantities. Unlessspecifically stated otherwise, or as is apparent from the discussion,terms such as “processing” or “computing” or “calculating” or“determining” or “displaying” or the like, refer to the action andprocesses of a computer system, or similar electronic computing device,that manipulates and transforms data represented as physical, electronicquantities within the computer system's registers and memories intoother data similarly represented as physical quantities within thecomputer system memories or registers or other such information storage,transmission or display devices.

Note also that the software implemented aspects of example embodimentsare typically encoded on some form of tangible (or recording) storagemedium or implemented over some type of transmission medium. Thetangible storage medium may be magnetic (e.g., a floppy disk or a harddrive) or optical (e.g., a compact disk read only memory, or “CD ROM”),and may be read only or random access.

FIG. 10 is a flow chart illustrating a method of automated farmingaccording to at least one example embodiment. The after-describedmethods may be implemented on the devices previously described in FIGS.1-9. In at least one example embodiment, as shown in FIG. 10, anautomated farming method may include 800 rotating a beam about a fixed,central base; 810 moving a farming implement support along the beam; and820 depositing at least one of seeds, water, or nutrients along acontinuous path within a plot as the beam rotates about the fixed,central base and the farming implement support moves along the beam froma first position to a second position. The beam may extend between thefixed, central base, and a movable support. The continuous path may forma generally spiral shaped pattern that extends from the fixed, centralbase.

For example, programming of the spiral pattern may include linearinterpolation of points between each plant within a plot to achieveequidistant spacing of each plant along the spiral path and betweenadjacent spiral curves. The path along the spiral may represent a mostefficient movement between each plant given movement distance along thespiral path.

In at least one example embodiment, the method may also includecontinuously monitoring a condition of the plot, and treating selectedplants within the plot according to the condition thereof.

As set forth above, monitoring of the crop may include use of an NDVIsensor and NDVI images that may detect color change in a crop thatindicates, for example, nutrient stress, excess water, and/or otherdetriments. The sensor may also sense and/or detect other aspects, forexample, disease, weed detection, and/or non-crop vegetation within theplot. Any detection of detriments may be acted on by programmingmovements of the system 10 to the location of the detriment and/oractions of the system 10 to remedy the detriment. For example, thesystem 10 may be programmed to apply nutrients, spray weeds, apply afungicide, physically pull or hoe weeds, and/or any other suitableaction.

The method of FIG. 10 may be accomplished using the automated farmingsystem of FIGS. 1-6.

FIG. 11 is a flow chart illustrating a method of automated farmingaccording to at least one example embodiment.

In at least one example embodiment, as shown in FIG. 11, an automatedfarming method includes 900 rotating a beam about a fixed, central base,the beam extending between the fixed, central base, and a support; 900moving a farming implement support along the beam; and 920 depositing atleast one of seeds, water, or nutrients in rows extending radially fromthe fixed, central base.

In at least one example embodiment, the method may also includecontinuously monitoring a condition of the rows. The method may furtherinclude treating selected plants within the rows according to thecondition thereof.

The method of FIG. 11 may be accomplished using the automated farmingsystem of FIGS. 1-6.

The aforementioned description is merely illustrative in nature and isin no way intended to limit the disclosure, its application, or uses.The broad teachings of the disclosure can be implemented in a variety offorms. Therefore, while this disclosure includes particular examples,the true scope of the disclosure should not be so limited since othermodifications will become apparent upon a study of the drawings, thespecification, and the following claims. It should be understood thatone or more steps within a method may be executed in different order (orconcurrently) without altering the principles of the present disclosure.Further, although each of the embodiments is described above as havingcertain features, any one or more of those features described withrespect to any embodiment of the disclosure can be implemented in and/orcombined with features of any of the other embodiments, even if thatcombination is not explicitly described. In other words, the describedembodiments are not mutually exclusive, and permutations of one or moreembodiments with one another remain within the scope of this disclosure.

The patent claims filed with the application are formulation proposalswithout prejudice for obtaining more extensive patent protection. Theapplicant reserves the right to claim even further combinations offeatures previously disclosed only in the description and/or drawings.

The example embodiment or each example embodiment should not beunderstood as a restriction of the invention. Rather, numerousvariations and modifications are possible in the context of the presentdisclosure, in particular those variants and combinations which can beinferred by the person skilled in the art with regard to achieving theobject for example by combination or modification of individual featuresor elements or method steps that are described in connection with thegeneral or specific part of the description and are contained in theclaims and/or the drawings, and, by way of combinable features, lead toa new subject matter or to new method steps or sequences of methodsteps, including insofar as they concern production, testing andoperating methods. Further, elements and/or features of differentexample embodiments may be combined with each other and/or substitutedfor each other within the scope of this disclosure and appended claims.

References back that are used in dependent claims indicate the furtherembodiment of the subject matter of the main claim by way of thefeatures of the respective dependent claim; they should not beunderstood as dispensing with obtaining independent protection of thesubject matter for the combinations of features in the referred-backdependent claims. Furthermore, with regard to interpreting the claims,where a feature is concretized in more specific detail in a subordinateclaim, it should be assumed that such a restriction is not present inthe respective preceding claims.

Since the subject matter of the dependent claims in relation to theprior art on the priority date may form separate and independentinventions, the applicant reserves the right to make them the subjectmatter of independent claims or divisional declarations. They mayfurthermore also contain independent inventions which have aconfiguration that is independent of the subject matters of thepreceding dependent claims.

Still further, any one of the above-described and other example featuresof the present invention may be embodied in the form of an apparatus,method, system, computer program, tangible computer readable medium andtangible computer program product. For example, of the aforementionedmethods may be embodied in the form of a system or device, including,but not limited to, any of the structure for performing the methodologyillustrated in the drawings.

In this application, including the definitions below, the term ‘module’or the term ‘controller’ may be replaced with the term ‘circuit.’ Theterm ‘module’ may refer to, be part of, or include processor hardware(shared, dedicated, or group) that executes code and memory hardware(shared, dedicated, or group) that stores code executed by the processorhardware.

The module may include one or more interface circuits. In some examples,the interface circuits may include wired or wireless interfaces that areconnected to a local area network (LAN), the Internet, a wide areanetwork (WAN), or combinations thereof. The functionality of any givenmodule of the present disclosure may be distributed among multiplemodules that are connected via interface circuits. For example, multiplemodules may allow load balancing. In a further example, a server (alsoknown as remote, or cloud) module may accomplish some functionality onbehalf of a client module.

Further, at least one embodiment of the invention relates to anon-transitory computer-readable storage medium comprisingelectronically readable control information stored thereon, configuredin such that when the storage medium is used in a controller of amagnetic resonance device, at least one embodiment of the method iscarried out.

Even further, any of the aforementioned methods may be embodied in theform of a program. The program may be stored on a non-transitorycomputer readable medium and is adapted to perform any one of theaforementioned methods when run on a computer device (a device includinga processor). Thus, the non-transitory, tangible computer readablemedium is adapted to store information and is adapted to interact with adata processing facility or computer device to execute the program ofany of the above mentioned embodiments and/or to perform the method ofany of the above mentioned embodiments.

The computer readable medium or storage medium may be a built-in mediuminstalled inside a computer device main body or a removable mediumarranged so that it can be separated from the computer device main body.The term computer-readable medium, as used herein, does not encompasstransitory electrical or electromagnetic signals propagating through amedium (such as on a carrier wave); the term computer-readable medium istherefore considered tangible and non-transitory. Non-limiting examplesof the non-transitory computer-readable medium include, but are notlimited to, rewriteable non-volatile memory devices (including, forexample flash memory devices, erasable programmable read-only memorydevices, or a mask read-only memory devices); volatile memory devices(including, for example static random access memory devices or a dynamicrandom access memory devices); magnetic storage media (including, forexample an analog or digital magnetic tape or a hard disk drive); andoptical storage media (including, for example a CD, a DVD, or a Blu-rayDisc). Examples of the media with a built-in rewriteable non-volatilememory, include but are not limited to memory cards; and media with abuilt-in ROM, including but not limited to ROM cassettes; etc.Furthermore, various information regarding stored images, for example,property information, may be stored in any other form, or it may beprovided in other ways.

The term code, as used above, may include software, firmware, and/ormicrocode, and may refer to programs, routines, functions, classes, datastructures, and/or objects. Shared processor hardware encompasses asingle microprocessor that executes some or all code from multiplemodules. Group processor hardware encompasses a microprocessor that, incombination with additional microprocessors, executes some or all codefrom one or more modules. References to multiple microprocessorsencompass multiple microprocessors on discrete dies, multiplemicroprocessors on a single die, multiple cores of a singlemicroprocessor, multiple threads of a single microprocessor, or acombination of the above.

Shared memory hardware encompasses a single memory device that storessome or all code from multiple modules. Group memory hardwareencompasses a memory device that, in combination with other memorydevices, stores some or all code from one or more modules.

The term memory hardware is a subset of the term computer-readablemedium. The term computer-readable medium, as used herein, does notencompass transitory electrical or electromagnetic signals propagatingthrough a medium (such as on a carrier wave); the term computer-readablemedium is therefore considered tangible and non-transitory. Non-limitingexamples of the non-transitory computer-readable medium include, but arenot limited to, rewriteable non-volatile memory devices (including, forexample flash memory devices, erasable programmable read-only memorydevices, or a mask read-only memory devices); volatile memory devices(including, for example static random access memory devices or a dynamicrandom access memory devices); magnetic storage media (including, forexample an analog or digital magnetic tape or a hard disk drive); andoptical storage media (including, for example a CD, a DVD, or a Blu-rayDisc). Examples of the media with a built-in rewriteable non-volatilememory, include but are not limited to memory cards; and media with abuilt-in ROM, including but not limited to ROM cassettes; etc.Furthermore, various information regarding stored images, for example,property information, may be stored in any other form, or it may beprovided in other ways.

The apparatuses and methods described in this application may bepartially or fully implemented by a special purpose computer created byconfiguring a general purpose computer to execute one or more particularfunctions embodied in computer programs. The functional blocks andflowchart elements described above serve as software specifications,which can be translated into the computer programs by the routine workof a skilled technician or programmer.

The computer programs include processor-executable instructions that arestored on at least one non-transitory computer-readable medium. Thecomputer programs may also include or rely on stored data. The computerprograms may encompass a basic input/output system (BIOS) that interactswith hardware of the special purpose computer, device drivers thatinteract with particular devices of the special purpose computer, one ormore operating systems, user applications, background services,background applications, etc.

The computer programs may include: (i) descriptive text to be parsed,such as HTML (hypertext markup language) or XML (extensible markuplanguage), (ii) assembly code, (iii) object code generated from sourcecode by a compiler, (iv) source code for execution by an interpreter,(v) source code for compilation and execution by a just-in-timecompiler, etc. As examples only, source code may be written using syntaxfrom languages including C, C++, C#, Objective-C, Haskell, Go, SQL, R,Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, Javascript®, HTML5,Ada, ASP (active server pages), PHP, Scala, Eiffel, Smalltalk, Erlang,Ruby, Flash®, Visual Basic®, Lua, and Python®.

None of the elements recited in the claims are intended to be ameans-plus-function element within the meaning of 35 U.S.C. §112(f)unless an element is expressly recited using the phrase “means for” or,in the case of a method claim, using the phrases “operation for” or“step for.”

Example embodiments being thus described, it will be obvious that thesame may be varied in many ways. Such variations are not to be regardedas a departure from the spirit and scope of the present invention, andall such modifications as would be obvious to one skilled in the art areintended to be included within the scope of the following claims.

1-16. (canceled)
 17. An automated farming system comprises: a frameincluding, a fixed, central base configured to pivot, a beam including afirst end and a second end, the first end of the beam movably connectedto the fixed, central base, and at least one movable support connectedto the beam and configured to rotate the support and the beam about thefixed, central base; and at least one farming implement supportconfigured to move between the first end and the second end of the beam,movement of the at least one movable support and the at least onefarming implement support being controllable so as to farm crops in asubstantially continuous row having a generally spiral shape, the rowextending from the fixed, central base to a location adjacent a path ofthe automated farming system.
 18. The automated farming system of claim17, wherein the at least one movable support includes a propulsionsystem.
 19. The automated farming system of claim 18, wherein thepropulsion system includes a plurality of tires and a first motor. 20.The automated farming system of claim 19, further comprising: an encoderassociated with at least one of the plurality of tires.
 21. Theautomated farming system of claim 19, further comprising: a second motorconfigured to move the farming implement support between the first endand the second end of the beam.
 22. The automated farming system ofclaim 21, further comprising: at least one power supply configured tosupply power to at least one of the first motor and the second motor.23. The automated farming system of claim 17, further comprising: atleast one farming implement attachable to the farming implement support,the farming implement including at least one of a planting head, aliquid dispensing device, a weeding device, and a feeding system. 24.The automated farming system of claim 23, wherein the planting headcomprises: a seed supply reservoir, and a vacuum configured to pick upseeds from the seed supply reservoir.
 25. The automated farming systemof claim 24, wherein the planting head further comprises: an air nozzleconfigured to eject seeds.
 26. The automated farming system of claim 25,wherein the liquid dispensing device comprises at least one of: a liquidreservoir configured to contain at least one of water, a herbicide, anda plant nutrient; and a liquid supply line configured to supply at leastone of water, the herbicide, and the plant nutrient.
 27. The automatedfarming system of claim 26, further comprising: at least one valveconfigured to selectively release the at least one of water and plantnutrients from the liquid reservoir or the liquid supply line.
 28. Theautomated farming system of claim 21, further comprising: a remotelylocated computing device, configured to send operating instructions, tocontrol movement of at least one of the at least one support and the atleast one farming implement, to at least one of the first and secondmotors via a motor controller.
 29. The automated farming system of claim17, further comprising at least one of: a visual marker dispensingsystem; a differential global positioned system (GPS) receiver locatedat the second end of the beam; and an angle sensor located at the fixed,central base, the angle sensor configured to measure an angle ofrotation of the beam.
 30. The automated farming system of claim 17,further comprising: at least one sensor configured to sense a conditionof a plant, the at least one sensor connected to the farming implementsupport.
 31. The automated farming system of claim 28, wherein theremotely located computing device includes a user interface.
 32. Theautomated farming system of claim 22, wherein at least one of the firstand second motors is in wireless communication with a remote computingdevice.
 33. The automated farming system of claim 28, wherein theremotely located computing device includes a data storage medium.
 34. Anautomated farming method comprising: rotating a beam about a fixed,central base, the beam extending between the fixed, central base, and amovable support; moving a farming implement support along the beam; anddepositing at least one of seeds, water, or nutrients along a continuouspath within a plot as the beam rotates about the fixed, central base andthe farming implement support moves along the beam from a first positionto a second position, the continuous path forming a spiral patternextending from the fixed, central base.
 35. The automated farming methodof claim 34, further comprising: continuously monitoring a condition ofthe plot.
 36. The automated farming method of claim 35, furthercomprising: treating selected plants within the plot according to thecondition thereof.
 37. The automated farming method of claim 34, whereinat least one of the rotating and moving is wirelessly controlled. 38-41.(canceled)
 42. An automated farming system comprising: a frameincluding, a fixed, central base configured to pivot, a beam including afirst end and a second end, the first end of the beam movably connectedto the fixed, central base, and at least one movable support connectedto the beam and configured to rotate the support and the beam about thefixed, central base; and at least one farming implement supportconfigured to move between the first end and the second end of the beam,movement of the at least one movable support and the at least onefarming implement support being controllable so as to farm plantssubstantially equidistantly spaced from adjacent plants.
 43. Theautomated farming system of claim 42, wherein the plants are planted ina substantially continuous row having a generally spiral shape, the rowextending from the fixed, central base to a location adjacent a path ofthe automated farming system.
 44. The automated farming system of claim42, wherein the automated farming system allows for high density cropplanting.
 45. The automated farming system of claim 42, wherein theplants are not planted in rows.